Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms

Quentin Boehler 1 Marc Vedrines 1 Salih Abdelaziz 2 Philippe Poignet 2 Pierre Renaud 3
1 AVR
ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, the design of nonlinear softening springs using compliant mechanisms is investigated. The use of compliant structures is of great interest, because of the resulting absence of backlash and friction. We demonstrate that the existence of parallel singularities is a necessary condition for the architecture of a compliant softening spring. From this result, two original arrangements of softening springs are derived, with the introduction of traction and torsion softening springs. A synthesis is performed and the traction spring is numerically and experimentally assessed. As nonlinearity can also be obtained from material properties, the interest of using additive manufacturing with multi-material capability is investigated. Rubber-like materials exhibit a hyper-elastic behavior. Their integration in the proposed compliant architecture is shown to be of interest to customize the geometry of a softening spring according to the designer requirements.
Type de document :
Communication dans un congrès
IDETC/CIE: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, Massachusetts, United States. 5A, 2015, 39th Mechanisms and Robotics Conference. 〈10.1115/DETC2015-47240〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01276756
Contributeur : Salih Abdelaziz <>
Soumis le : samedi 20 février 2016 - 00:36:41
Dernière modification le : jeudi 11 janvier 2018 - 06:26:08

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Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud. Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms. IDETC/CIE: International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, Massachusetts, United States. 5A, 2015, 39th Mechanisms and Robotics Conference. 〈10.1115/DETC2015-47240〉. 〈lirmm-01276756〉

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